• Title/Summary/Keyword: Synchronizing Control

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Position synchronizing control of two axes system using by VSS and $H_{\infty}$ control (VSS 및 $H_{\infty}$ 제어법에 의한 2축 위치 동기 제어)

  • 변정환;김영복;양주호
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.754-758
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    • 1996
  • In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

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High precision position synchronous control in a multi-axes driving system (II) (다축 구동 시스템의 정밀 위치동기 제어(II))

  • 양주호;변정환;김영복;정석권
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.3
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    • pp.98-106
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    • 1997
  • In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed position synchronizing control system is constituted with speed and synchronizing controller. The speed controller is aimed at the following to speed reference. Furthermore, it is designed to guarantee low sensitivity under some disturbance as well as robustness against model uncertainties using $H_{\infty}$technique. The synchronizing controller is designed to keep minimizing the position error using PID control law which is considered to reduce the dimension of transfer function in the control system. Especially, the proposed method can be easily conducted by controlling only slave axis speed, because it, has variable structure which is decided to master and slave axis by the sign of synchronizing error. Therfore, the master axis which is smaller influenced than another axes by disturbance can be controlled without reducing or increasing its speed for precise position synchronization. The effectiveness of the proposed method is sucessfully confirmed through many experiments.s.

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Force Synchronizing Control for AC Servomotor-Ball Screw Driven Injection Unit (AC서보모터-볼스크루 구동 사출장치의 힘 동기제어)

  • Cho, S.H.
    • Journal of Drive and Control
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    • v.12 no.2
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    • pp.14-20
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    • 2015
  • This paper focuses on the issue of force synchronizing control for the injection servomechanism of injection molding machines. Prior to the controller design, a virtual design model was developed for the injection mechanism with an AC servomotor-ball screw. A synchronizing controller is designed and combined with the PID control to accommodate the mismatches between the real plant and the linear model plant used. Due to the plant uncertainty, the stiffness and the damping of the mechanism were considered. From the tracking control simulations based on the virtual design model, it is shown that a significant reduction in force synchronizing error is achieved through the use of a proposed control scheme.

Force Synchronizing Control for 4 Axes Driven Hydraulic Cylinder-Clamping Load Systems (4축 구동 유압실린더-클램핑 부하 시스템의 힘 동기제어)

  • Cho, S.H.
    • Journal of Drive and Control
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    • v.11 no.2
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    • pp.9-15
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    • 2014
  • This paper deals with the issue of force synchronizing control for the clamping servomechanism of injection molding machines. Prior to the controller design, a virtual design model has been developed for the clamping mechanism with hydraulic systems. Then, a synchronizing controller is designed and combined with an adaptive feedforward control in order to accommodate the mismatches between the real plant and the linear model plant used. As a disturbance, the leakage due to the ring gap with relative motion in the cylinder has been introduced. From the robust force tracking simulations, it is shown that a significant reduction in the force synchronizing error is achieved through the use of a proposed control scheme.

Multiple Axes Position Synchronizing Control of Hydraulic-Cylinder Load System for Clamping Process (클램핑 공정을 위한 유압실린더-부하계의 다축 위치 동기제어)

  • Cho, Seung Ho
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.1
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    • pp.51-57
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    • 2014
  • This paper presents a synchronizing adaptive feedforward control for clamping servomechanism of injection molding machines. Based on MBS, virtual design model has been developed for a direct forcing clamping mechanism. A synchronizing controller is designed and combined with adaptive feedforward control to accommodate mismatches between the real plant and the linear plant model used. From tracking control simulations, it is shown that significant reduction in position tracking error is achieved through the use of proposed control scheme.

Investigation of Influences of Synchronizing Errors on the Tapping Characteristics and Thread Quality in the Ultra-High-Speed Tapping (초고속 태핑에서 동기오차가 태평특성과 나사품질에 미치는 영향 분석)

  • 이돈진;김선호;안중환
    • Journal of the Korean Society for Precision Engineering
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    • v.20 no.9
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    • pp.40-46
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    • 2003
  • Synchronizing errors between the spindle motor and the z-axis motor directly influences the cutting characteristics and the thread quality in tapping, because the tapping process is accomplished by synchronizing the movement of the z-axis with the revolutionary spindle motion. Generally synchronizing errors are decided by tile parameters of the servo system and commanded velocity. The excessive synchronizing errors which are induced by the parameter mismatch and high cutting velocity can cause tap breakage due to the abrupt increase of cutting torque or damage the thread accuracy by overcutting the already cut threads. In this paper, the influences of the synchronizing errors on the tapping characteristics in the ultra high-speed tapping will be described and a minimum level of synchronizing errors necessary to maintain the quality of the cut thread will be presented.

Modeling and Robust Synchronizing Motion Control of Twin-Servo System Using Network Representation (네트워크 표현을 이용한 트윈서보 시스템의 모델링과 강건 동기 동작 제어)

  • Kim, Bong-Keun;Park, Hyun-Taek;Chung, Wan-Kyun;Suh, Il-Hong;Song, Joong-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.10
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    • pp.871-880
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    • 2000
  • A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

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Synchronizing Control of Multiple DC Motors (복수 DC모터 동기 제어)

  • Yun, J.H.;Suh, I.H.;Shin, Y.S.;Kim, G.H.
    • Proceedings of the KIEE Conference
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    • 1990.07a
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    • pp.475-479
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    • 1990
  • Two control algorithms for synchronizing multiple DC motors are proposed to compensate load variation and gain mismatches. Specifically, a mathematical model of a practical DC servo system is drived and analyzed to see synchronizing effect at the steady-state. Also a compensator is proposed to synchronize multiple motors at the transient-state. As an experimental system, two-axis synchronizing control system is developed and tested to show the validities of our proposed method.

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Modeling and Synchronizing Motion Control of Twin-servo System

  • Kim, Bong-Keun;Chung, Wan-Kyun;Lee, Kyo-Beum;Song, Joong-Ho;Ick Choy
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.302-305
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    • 1999
  • Twin-servo mechanism is used to increase the payload capacity and speed of high precision motion control system. In this paper, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. This proposed control algorithm consists of separate feedback motion control algorithm of each driving system and skew motion compensation algorithm between two systems. Robust model reference tracking controller is proposed as a separate motion controller and its disturbance attenuation property is shown. For the synchronizing motion, skew motion compensation algorithm is designed, and the stability of whole Closed loop system is proved based on passivity theory.

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Multiple-Axes Velocity-Synchronizing Control of AC-Servomotor Load System for Injection Process (사출공정을 위한 AC 서보모터-부하계의 다축 속도 동기제어)

  • Jon, Yun-Son;Jung, Kwon;Choi, Jang Hoon;Ahn, Hyun;Lee, Hyeong Cheol;Kim, Young Shin;Hong, Seong Ho;Cho, Seung Ho
    • Journal of the Korean Society for Precision Engineering
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    • v.32 no.8
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    • pp.719-726
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    • 2015
  • This paper presents a velocity-synchronizing control for the multiple axes of an injection unit; based on MBS, a virtual design model has been developed for the multiple-axes servomechanism. Prior to the design of the controller, a linear plant model was derived via open-loop response simulations. To synchronize the motions of the multiple axes, a cross-type synchronizing controller was designed and combined with the PID control to accommodate any parameter mismatches among the multiple axes. From the tracking control simulations, a significant reduction of both velocity-tracking and position-tracking errors was achieved through the use of the proposed control scheme.